摘要
家庭服务机器人控制系统研究的一个最重要的问题是如何实现车体的运动控制精度并形成闭环控制系统。针对家庭服务机器人所处的室内环境,家具摆放没有规律,要求家庭服务机器人的车体运动控制系统必须要有较高的灵活性与快速响应性,设计了基于ARM Cotex-M3为核心控制器的家庭服务机器人车体运动控制系统。家庭服务机器人车体运动控制系统由软件和硬件2部分组成。硬件包括车体、机械臂以及STM32f103vet6芯片作为控制系统核心硬件;软件包括视觉循迹、语音控制、串口通讯,主要是为了给下位机硬件发送控制指令。家庭服务机器人车体控制系统可以实现家庭服务机器人运动灵活性、快速响应性、以及控制准确性。
Family service robot control system is one of the most important problem is how to realize the motion control precision of the car body and form a closed loop control system. For home service robot indoor environment, furniture is put no law, requirement home service robot vehicle control system must hare high flexibility and quick response, was designed based on ARM Cotex-M3 as the core controller family service robot vehicle control system. Family service robot vehicle control system consists of hardware and software two parts. Hardware including car body, mechanical arm, and STM32f103vet6 chip as the core hardware of the control system; Software including visual tracking, voice control, serial port communication, mainly to send control instructions to lower place machine hardware. Family service robot car body control system can realize family service robot movement flexibility, rapid response, and the control accuracy.
出处
《机械设计与制造》
北大核心
2017年第8期228-231,共4页
Machinery Design & Manufacture
